move centerpoint configs to perception.launch.xml

Signed-off-by: kminoda <koji.minoda@tier4.jp>
autowarefoundation · Dec 22, 2022 · 086bc74 · 086bc74
1 parent 5eb0318
commit 086bc74
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Showing 3 changed files with 5 additions and 6 deletions.
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -27,9 +27,6 @@
   <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="score_threshold" default="0.35"/>
-  <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
-  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
-  <arg name="centerpoint_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var centerpoint_model_name).param.yaml"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">

diff --git a/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -10,9 +10,6 @@
   <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
   <arg name="score_threshold" default="0.35"/>
-  <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
-  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
-  <arg name="centerpoint_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var centerpoint_model_name).param.yaml"/>
 
   <!-- Pointcloud map filter -->
   <group>

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -8,6 +8,11 @@
   <arg name="obstacle_segmentation_ground_segmentation_param_path"/>
   <arg name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"/>
 
+  <!-- centerpoint model configs -->
+  <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
+  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="centerpoint_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var centerpoint_model_name).param.yaml"/>
+
   <!-- common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>